Optical distance measuring device and mobile device

Abstract

The application is suitable for the technical field of optical distance measuring device, and provides an optical distance measuring device and a mobile device.The optical distance measuring device comprises a shell part, a light beam scanning part, a bearing part and a driving part, wherein the shell part comprises a base; the light beam scanning part is rotatably installed on the base; the inner ring of the bearing part is installed on the base, the light beam scanning part is installed on the outer ring of the bearing part, and the light beam scanning part is rotatably installed on the base through the bearing part; the driving part is installed on the base, the outer side wall of the outer ring of the bearing part is provided with a transmission structure, and the driving part can drive the outer ring of the bearing part through the transmission structure to make the outer ring of the bearing part rotate relative to the inner ring of the bearing part.The optical distance measuring device provided by the application saves the radial space occupied by all entities or gaps between the bearing part and the transmission structure, reduces the radial size of the optical distance measuring device, i.e., reduces the width size of the optical distance measuring device, and is beneficial to the miniaturization design of the optical distance measuring device.

Description

Technical Field

[0001] This application belongs to the field of optical ranging device technology, and more specifically, relates to an optical ranging device and a mobile device. Background Technology

[0002] LiDAR is a common optical ranging device. Its working principle is to emit a detection signal towards the target, then compare the received signal reflected back from the target with the emitted signal. After appropriate processing, information about the target can be obtained, such as its distance, azimuth, altitude, speed, attitude, and even shape. Rotating LiDAR mainly consists of a scanning ranging module, a drive module, a housing assembly, and an encoding module. These structures all occupy a certain amount of space in the height and width directions of the LiDAR.

[0003] Currently, terminal products that utilize rotating lidar, such as cleaning robots, place higher demands on the miniaturization of rotating lidar. Summary of the Invention

[0004] The purpose of this application is to provide an optical ranging device and a mobile device, which aims to solve the technical problem of large radial dimensions in existing lidar.

[0005] To achieve the above objectives, according to one aspect of this application, an optical ranging device is provided. The optical ranging device includes: a housing, a beam scanning unit, a bearing unit, and a drive unit, wherein the housing includes a base; the beam scanning unit is rotatably mounted on the base; the inner ring of the bearing is mounted on the base, and the beam scanning unit is mounted on the outer ring of the bearing, the beam scanning unit being rotatably mounted on the base via the bearing; the drive unit is mounted on the base, and a transmission structure is provided on the outer side wall of the outer ring of the bearing, the drive unit being able to drive the outer ring of the bearing through the transmission structure, causing the outer ring of the bearing to rotate relative to the inner ring of the bearing.

[0006] Optionally, the bearing portion includes an outer bearing ring, an inner bearing ring, and rolling elements. The outer bearing ring is fitted onto the inner bearing ring, and the rolling elements are located between the outer bearing ring and the inner bearing ring, respectively rollingly engaging with the outer bearing ring and the inner bearing ring. The outer bearing ring forms the outer ring of the bearing portion, and the inner bearing ring forms the inner ring of the bearing portion.

[0007] Optionally, the outer shell includes a middle shell support plate, which is disposed on the first end of the outer ring of the bearing and is arranged sequentially with the outer ring of the bearing along the axial direction of the bearing portion; a first mounting surface is provided on the side of the middle shell support plate away from the outer ring of the bearing, and the beam scanning unit is fixedly mounted on the first mounting surface; wherein, the middle shell support plate and the outer ring of the bearing are integrally formed or separately fixedly connected; or, the beam scanning unit is fixedly mounted on the first end of the outer ring of the bearing.

[0008] Optionally, the middle shell support plate is provided with a first limiting structure, which cooperates with the inner wall and / or the outer wall of the bearing outer ring to restrict the radial movement of the middle shell support plate relative to the bearing outer ring; and / or, the base is provided with a second limiting structure, which cooperates with the inner wall and / or the outer wall of the bearing inner ring to restrict the radial movement of the bearing inner ring relative to the base.

[0009] Optionally, the optical ranging device further includes a grating encoding unit, which includes a grating encoding disk and a grating detection unit. The grating detection unit is used to detect the relative rotation angle or relative rotation speed between the grating detection unit and the grating encoding disk. The grating encoding disk is disposed at the second end of the outer ring of the bearing and is arranged sequentially with the outer ring of the bearing along the axial direction of the bearing portion. The grating detection unit is fixedly disposed relative to the base. The grating encoding disk is integrally formed with the outer ring of the bearing or is fixedly connected separately. Alternatively, the grating encoding disk is disposed at the first end of the inner ring of the bearing and is arranged sequentially with the inner ring of the bearing along the axial direction of the bearing portion. The grating detection unit is fixedly disposed relative to the beam scanning unit. The grating encoding disk is integrally formed with the inner ring of the bearing or is fixedly connected separately.

[0010] Optionally, the base is provided with a snap-fit ​​structure, which at least partially passes through the inner ring of the bearing and engages with the inner ring of the bearing; or, the inner ring of the bearing and the base are arranged sequentially along the axial direction of the bearing portion, with the base located at the second end of the inner ring of the bearing, and the inner ring of the bearing and the base are separately fixedly connected or integrally formed.

[0011] Optionally, a transmission groove is provided on the outer side wall of the bearing outer ring, and the transmission structure includes the transmission groove and a transmission belt. The drive unit drives the bearing outer ring to rotate relative to the bearing inner ring through the transmission belt. Alternatively, a plurality of first transmission teeth are provided on the outer side wall of the bearing outer ring, and the transmission structure includes a plurality of first transmission teeth and a drive gear. The drive gear engages with the plurality of first transmission teeth, and the drive unit drives the bearing outer ring to rotate relative to the bearing inner ring through the drive gear. Alternatively, a plurality of second transmission teeth are provided on the outer side wall of the bearing outer ring, and the transmission structure includes a plurality of second transmission teeth and a transmission chain. The transmission chain engages with the plurality of second transmission teeth, and the drive unit drives the bearing outer ring to rotate relative to the bearing inner ring through the transmission chain.

[0012] Optionally, a first roller groove is provided on the inner sidewall of the bearing outer ring, and the rolling element is at least partially located in the first roller groove. The bearing outer ring limits the rolling element through the first roller groove. The projection of the transmission groove in the radial direction of the bearing outer ring at least partially coincides with the projection of the first roller groove in the radial direction of the bearing outer ring; or, the projection of the transmission groove in the radial direction of the bearing outer ring does not coincide with the projection of the first roller groove in the radial direction of the bearing outer ring.

[0013] Optionally, the outer ring of the bearing is made of rubber or plastic or metal, and / or the inner ring of the bearing is made of rubber or plastic or metal.

[0014] According to another aspect of this application, a mobile device is provided, which includes an optical ranging device, wherein the optical ranging device is the optical ranging device described above.

[0015] The beneficial effects of the optical ranging device provided in this application are as follows: Compared with the prior art, the optical ranging device provided in this application directly sets the transmission structure on the outer side wall of the outer ring of the bearing part, which eliminates the radial space occupied by all the entities or gaps between the bearing part and the transmission structure, thereby reducing the radial dimension of the optical ranging device, that is, reducing the width dimension of the optical ranging device, which is conducive to the miniaturization design of the optical ranging device. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A cross-sectional schematic diagram of an optical rangefinder device with some components removed, provided in an embodiment of this application;

[0018] Figure 2 A cross-sectional schematic diagram of an optical ranging device with some components removed, which is integrally formed with the middle shell support plate and the outer ring of the bearing, as provided in an embodiment of this application.

[0019] Figure 3 A cross-sectional schematic diagram of an optical ranging device with some components removed, in which the bearing inner ring and base are sequentially arranged along the axial direction of the bearing portion, as provided in the embodiments of this application.

[0020] Figure 4 A cross-sectional schematic diagram of an optical ranging device with some components removed, in which the bearing inner ring and base are integrally formed, as provided in an embodiment of this application.

[0021] Figure 5 An optical ranging device with some components removed, in an embodiment of this application, wherein the grating encoder disk is disposed at the first end of the inner ring of the bearing;

[0022] The details of the reference numerals used in the above figures are as follows:

[0023] 10. Outer shell; 11. Base; 111. Snap-fit ​​structure; 12. Middle shell support plate;

[0024] 20. Bearing section; 21. Bearing outer ring; 211. Transmission structure; 2111. Transmission groove; 2112. Transmission belt; 22. Bearing inner ring; 23. Rolling element;

[0025] 30. Drive unit;

[0026] 40. Grating encoding section; 41. Grating encoding disk; 411. Grating encoding structure; 42. Grating detection unit. Detailed Implementation

[0027] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0028] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly or indirectly on that other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to that other element. Unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0029] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0031] As described in the background section, lidar is a common optical ranging device. Its working principle involves transmitting a detection signal to the target, then comparing the received signal reflected back from the target with the transmitted signal. After appropriate processing, information about the target can be obtained, such as its distance, azimuth, altitude, speed, attitude, and even shape. Rotating lidar mainly consists of a scanning ranging module, a drive module, a housing assembly, and an encoding module. These structures all occupy a certain amount of space in the height and width directions of the lidar. Currently, end products using rotating lidar, such as cleaning robots, place higher demands on the miniaturization of rotating lidar.

[0032] See Figures 1 to 5 As shown, in order to solve the above problems, according to one aspect of this application, an embodiment of this application provides an optical ranging device, which includes: a housing 10, a beam scanning unit, a bearing 20, and a drive unit 30, wherein the housing 10 includes a base 11; the beam scanning unit is rotatably mounted on the base 11; the inner ring of the bearing 20 is mounted on the base 11, and the beam scanning unit is mounted on the outer ring of the bearing 20, and the beam scanning unit is rotatably mounted on the base 11 via the bearing 20; the drive unit 30 is mounted on the base 11, and a transmission structure is provided on the outer side wall of the outer ring of the bearing 20, and the drive unit 30 can drive the outer ring of the bearing 20 through the transmission structure, so that the outer ring of the bearing 20 rotates relative to the inner ring of the bearing 20. The optical ranging device provided in this embodiment directly sets the transmission structure 211 on the outer side wall of the outer ring of the bearing part 20. Compared with the prior art, it eliminates the radial space occupied by all the entities or gaps between the bearing part 20 and the transmission structure, reduces the radial dimension of the optical ranging device, that is, reduces the width dimension of the optical ranging device, which is beneficial to the miniaturization design of the optical ranging device.

[0033] In one specific embodiment, the beam scanning unit provided in this embodiment includes a transmitting component and a receiving component. The transmitting component is used to emit a beam of light towards a target object, and the receiving component is used to receive the beam of light reflected from the target object. By comparing the emitted beam signal and the beam signal reflected back from the target object, the positional information between the optical ranging device and the target object can be obtained.

[0034] In another embodiment, a transmitting component and a receiving component may be provided outside the beam scanning unit, and the beam scanning unit may include a reflector, wherein the reflector is used to reflect the beam emitted by the transmitting component to the target object, and is also used to receive the beam reflected from the target object and reflect it again to the receiving component.

[0035] See Figures 1 to 5As shown, in a specific embodiment, the bearing portion 20 includes an outer bearing ring 21, an inner bearing ring 22, and rolling elements 23. The outer bearing ring 21 is fitted onto the inner bearing ring 22, and the rolling elements 23 are located between the outer bearing ring 21 and the inner bearing ring 22, respectively rollingly engaging with both the outer bearing ring 21 and the inner bearing ring 22. The outer bearing ring 21 forms the outer ring of the bearing portion 20, and the inner bearing ring 22 forms the inner ring of the bearing portion 20. By fitting the outer bearing ring 21 onto the inner bearing ring 22 and placing the rolling elements 23 between the outer bearing ring 21 and the inner bearing ring 22, respectively rollingly engaging with both the outer bearing ring 21 and the inner bearing ring 22, the rotational resistance of the outer bearing ring 21 relative to the axial inner ring can be reduced, making the rotation of the outer bearing ring 21 relative to the base 11 easier.

[0036] See Figure 1 As shown, in a specific embodiment, the outer shell portion 10 includes a middle shell support plate 12, which is disposed on the first end of the bearing outer ring 21 and is arranged sequentially with the bearing outer ring 21 along the axial direction of the bearing portion 20. A first mounting surface is provided on the side of the middle shell support plate 12 away from the bearing outer ring 21, and the beam scanning portion is fixedly mounted on the first mounting surface. By mounting the beam scanning portion with the middle shell support plate 12, a relatively stable planar support can be provided for the beam scanning portion, reducing the assembly difficulty of the beam scanning portion.

[0037] See Figure 2 and Figure 3 As shown, in a specific embodiment, the middle shell support plate 12 and the bearing outer ring 21 are integrally formed. By making the middle shell support plate 12 and the bearing outer ring 21 integrally formed, the connection links between the middle shell support plate 12 and the bearing outer ring 21 are reduced, thus avoiding shaking caused by loosening or gaps in the connection parts. This enhances the overall rigidity of the middle shell support plate 12 and the bearing outer ring 21. Furthermore, the integrally formed structure can distribute the load more evenly, improving the load-bearing capacity of the middle shell support plate 12 and the bearing outer ring 21. At the same time, making the middle shell support plate 12 and the bearing outer ring 21 integrally formed also simplifies the assembly process of the optical ranging device and improves the controllability of manufacturing precision.

[0038] See Figure 1 As shown, in another embodiment, the middle shell support plate 12 and the bearing outer ring 21 are separately fixedly connected. Setting the middle shell support plate 12 and the bearing outer ring 21 as separately fixedly connected facilitates individual maintenance of either the middle shell support plate 12 or the bearing outer ring 21, reducing maintenance costs and difficulty, shortening maintenance time, and further reducing the complexity and difficulty of the manufacturing process by manufacturing the middle shell support plate 12 and the bearing outer ring 21 separately.

[0039] In an optional embodiment, when the middle shell support plate 12 and the bearing outer ring 21 are separately fixedly connected, the middle shell support plate 12 and the bearing outer ring 21 are fixed by threaded fasteners, or the middle shell support plate 12 and the bearing outer ring 21 are fixed by applying glue to the mating surfaces.

[0040] See Figure 5 As shown, in another embodiment, the beam scanning unit in this embodiment is fixedly mounted on the first end of the bearing outer ring 21. By directly fixing the beam scanning unit to the first end of the bearing outer ring 21, the middle shell support plate 12 between the bearing outer ring 21 and the beam scanning unit is eliminated, reducing the axial dimension of the optical ranging device and facilitating the miniaturization design of the optical ranging device.

[0041] In one specific embodiment, the middle shell support plate 12 is provided with a first limiting structure. The first limiting structure cooperates with the inner sidewall and / or the outer sidewall of the bearing outer ring 21 to restrict the radial movement of the middle shell support plate 12 relative to the bearing outer ring 21. The first limiting structure on the middle shell support plate 12, which can cooperate with the inner sidewall and / or the outer sidewall of the bearing outer ring 21, facilitates the quick positioning of the middle shell support plate 12 on the bearing outer ring 21 during assembly. When the first limiting structure cooperates with the inner sidewall and / or the outer sidewall of the bearing outer ring 21, the relative radial movement between the middle shell support plate 12 and the bearing outer ring 21 can be fully restricted, thereby improving the connection stability between the middle shell support plate 12 and the bearing outer ring 21.

[0042] In one optional embodiment, the first limiting structure includes a first limiting protrusion ring, which passes through the outer ring 21 of the bearing. The outer side wall of the first limiting protrusion ring contacts and engages with the inner side wall of the outer ring 21 of the bearing to limit the radial movement of the outer ring 21. And / or, the first limiting structure includes a second limiting protrusion ring, which is sleeved on the outer ring 21 of the bearing. The inner side wall of the second limiting protrusion ring contacts and engages with the outer side wall of the outer ring 21 of the bearing to limit the radial movement of the outer ring 21.

[0043] In one specific embodiment, the base 11 is provided with a second limiting structure. This second limiting structure engages with the inner wall and / or outer wall of the bearing inner ring 22 to restrict radial movement of the bearing inner ring 22 relative to the base 11. By providing this second limiting structure on the base 11, which engages with the inner wall and / or outer wall of the bearing inner ring 22, the bearing inner ring 22 can be quickly positioned on the base 11 during assembly. When the second limiting structure engages with the inner wall of the bearing inner ring 22 and / or the outer wall of the bearing outer ring 21, the relative radial movement between the bearing inner ring 22 and the base 11 is sufficiently restricted, improving the connection stability between the base 11 and the bearing inner ring 22.

[0044] In one optional embodiment, the second limiting structure includes a third limiting protrusion ring, which passes through the inner ring 22 of the bearing. The outer side wall of the third limiting protrusion ring contacts and engages with the inner side wall of the inner ring 22 of the bearing to limit the radial movement of the inner ring 22. Alternatively, the second limiting structure includes a fourth limiting protrusion ring, which is sleeved on the inner ring 22 of the bearing. The inner side wall of the fourth limiting protrusion ring contacts and engages with the outer side wall of the inner ring 22 of the bearing to limit the radial movement of the inner ring 22.

[0045] See Figure 1 and Figure 5 As shown, in a specific embodiment, the optical ranging device further includes a grating encoding unit 40, which includes a grating encoding disk 41 and a grating detection unit 42. The grating detection unit 42 is used to detect the relative rotation angle or relative rotation speed between the grating detection unit 42 and the grating encoding disk 41. The grating encoding disk 41 is disposed at the second end of the bearing outer ring 21 and is arranged sequentially with the bearing outer ring 21 along the axial direction of the bearing portion 20. The grating detection unit 42 is fixedly disposed relative to the base 11. The grating encoding disk 41 is disposed at the second end of the bearing outer ring 21, and the grating encoding disk 41 and the bearing outer ring 21 are arranged sequentially along the axial direction of the bearing portion 20. The components are arranged sequentially so that the space occupied by the grating encoder disk 41 and the bearing outer ring 21 in the radial direction of the optical ranging device can at least partially overlap. That is, the space required for the grating encoder disk 41 itself and the space required for the inner and outer sides of the grating encoder disk 41 to be spaced apart from other components is eliminated in the radial direction, thereby reducing the radial dimension of the optical ranging device. The grating detection unit 42 is fixedly set relative to the base 11 so that the grating encoder disk 41 can rotate relative to the grating detection unit 42 as the bearing outer ring 21 rotates relative to the base 11. This allows the grating detection unit 42 to detect the relative rotation angle or relative rotation speed between the grating detection unit 42 and the grating encoder disk 41.

[0046] In one optional embodiment, the grating detection unit 42 provided in this embodiment is fixedly installed on the base 11 and corresponds to the position of the grating encoder disk.

[0047] In an optional embodiment, a grating encoding structure 411 is provided on the grating encoding disk 41 of this embodiment. The grating encoding structure 411 is located on the side of the grating encoding disk 41 away from the outer ring of the bearing. The grating encoding structure 411 includes a plurality of encoding units spaced apart along the circumference of the grating encoding disk 41. The grating detection unit 42 determines the relative rotation angle or relative rotation speed of the grating encoding disk 41 by identifying the different signals corresponding to these encoding units and the intervals between adjacent encoding units.

[0048] In one optional embodiment, the encoding unit provided in this embodiment is a toothed protrusion structure, and the grating detection unit 42 is a through-beam photoelectric sensor. The through-beam photoelectric sensor has a transmitting end and a receiving end. The transmitting end emits signal light towards the receiving end. When there is relative rotation between the grating encoding disk 41 and the grating detection unit 42, multiple toothed protrusion structures will pass through the space between the transmitting end and the receiving end in sequence. When the signal light is blocked by the toothed protrusion structure, the receiving end cannot receive the signal light. When the signal light can pass through the gap between adjacent toothed protrusion structures, the receiving end can receive the signal light, thereby determining the relative rotation angle or relative rotation speed of the grating encoding disk 41. Using a through-beam photoelectric sensor can improve the anti-interference capability of the optical ranging device.

[0049] In another embodiment, the encoding unit provided in this embodiment is a color block, and the grating detection unit 42 is a reflective photoelectric sensor. Of course, in other embodiments, the encoding unit provided in this embodiment can also be a high-reflectivity plane or a raised structure. The reflective photoelectric sensor has an emitting end that emits signal light toward the grating encoding disk 41 and a receiving end that receives signal light reflected by the grating encoding disk 41. When relative rotation occurs between the grating encoding disk 41 and the grating detection unit 42, multiple color blocks will sequentially pass the positions corresponding to the emitting end and the receiving end. When the receiving end receives signal light emitted by the color block or not reflected by the color block, different signals will be generated, thereby determining the relative rotation angle or relative rotation speed of the grating encoding disk 41. By using a reflective photoelectric sensor, the space occupied by the grating encoding section 40 can be reduced.

[0050] See Figures 2 to 4As shown, in a specific embodiment, the grating encoder disk 41 and the bearing outer ring 21 provided in this embodiment are integrally formed. By making the grating encoder disk 41 and the bearing outer ring 21 integrally formed, the connection links between the grating encoder disk 41 and the bearing outer ring 21 are reduced, thus avoiding the shaking caused by loosening or gaps in the connection parts between the grating encoder disk 41 and the bearing outer ring 21, and enhancing the overall rigidity of the grating encoder disk 41 and the bearing outer ring 21. At the same time, making the grating encoder disk 41 and the bearing outer ring 21 integrally formed can also simplify the assembly process of the optical ranging device and improve the controllability of manufacturing precision.

[0051] See Figure 1 As shown, in another embodiment, the grating encoder disk 41 and the bearing outer ring 21 are separately fixedly connected. Setting the grating encoder disk 41 and the bearing outer ring 21 as separately fixedly connected can facilitate the individual maintenance of the grating encoder disk 41 or the bearing outer ring 21, reduce maintenance costs and maintenance difficulty, shorten maintenance time, and the separate manufacturing of the grating encoder disk 41 and the bearing outer ring 21 can reduce the complexity of the manufacturing process and reduce the manufacturing difficulty.

[0052] In an optional embodiment, when the grating encoder disk 41 and the bearing outer ring 21 are separately fixedly connected, the grating encoder disk 41 and the bearing outer ring 21 are fixed by threaded fasteners, or the grating encoder disk 41 and the bearing outer ring 21 are fixed by applying glue to the mating surfaces.

[0053] In another embodiment, the grating encoder disk 41 is disposed at the first end of the bearing inner ring 22 and is arranged sequentially with the bearing inner ring 22 along the axial direction of the bearing portion 20. The grating detection unit 42 is fixedly disposed relative to the beam scanning unit. By disposing the grating encoder disk 41 at the first end of the bearing inner ring 22 and arranging the grating encoder disk 41 and the bearing inner ring 22 sequentially along the axial direction of the bearing portion 20, the space occupied by the grating encoder disk 41 and the bearing inner ring 22 in the radial direction of the optical ranging device can at least partially overlap, thereby reducing the radial dimension of the optical ranging device. The grating detection unit 42 is fixedly disposed relative to the beam scanning unit, so that the grating detection unit 42 can rotate relative to the grating encoder disk 41 as the beam scanning unit rotates relative to the base 11, thereby enabling the grating detection unit 42 to detect the relative rotation angle or relative rotation speed between the grating detection unit 42 and the grating encoder disk 41.

[0054] In one optional embodiment, the grating detection unit 42 provided in this embodiment is fixedly mounted on the beam scanning section or the middle shell support plate.

[0055] See Figure 5As shown, in a specific embodiment, the grating encoder disk 41 and the bearing inner ring 22 are integrally formed. By making the grating encoder disk 41 and the bearing inner ring 22 integrally formed, the connection links between the grating encoder disk 41 and the bearing inner ring 22 are reduced, thus avoiding the shaking caused by loosening or gaps in the connection parts between the grating encoder disk 41 and the bearing inner ring 22. This enhances the overall rigidity of the grating encoder disk 41 and the bearing inner ring 22. At the same time, making the grating encoder disk 41 and the bearing inner ring 22 integrally formed also simplifies the assembly process of the optical ranging device and improves the controllability of manufacturing precision.

[0056] In another embodiment, the grating encoder disk 41 and the bearing inner ring 22 are separately fixedly connected. Setting the grating encoder disk 41 and the bearing inner ring 22 as separately fixed connections facilitates individual maintenance of either the grating encoder disk 41 or the bearing inner ring 22, reducing maintenance costs and difficulty, shortening maintenance time, and further reducing the complexity and difficulty of the manufacturing process by manufacturing the grating encoder disk 41 and the bearing inner ring 22 separately.

[0057] In an optional embodiment, when the grating encoder disk 41 and the bearing inner ring 22 are separately fixedly connected, the grating encoder disk 41 and the bearing inner ring 22 are fixed by threaded fasteners, or the grating encoder disk 41 and the bearing inner ring 22 are fixed by applying glue to the mating surfaces.

[0058] See Figure 1 and Figure 2 As shown, in a specific embodiment, the base 11 in this embodiment is provided with a snap-fit ​​structure 111. The snap-fit ​​structure 111 is at least partially inserted into the inner ring 22 of the bearing and engages with the inner ring 22 of the bearing. The snap-fit ​​structure 111 can quickly install the inner ring 22 of the bearing by a simple snap-fit ​​action. When the inner ring 22 of the bearing needs to be maintained, replaced or upgraded, the maintenance personnel can easily remove the inner ring 22 of the bearing by a simple operation, such as pressing or flicking the unlocking part of the snap-fit ​​structure 111. This easy disassembly feature reduces the maintenance cost and difficulty of the inner ring 22 of the bearing, and can also quickly complete the installation when replacing the inner ring 22 of the bearing.

[0059] In one optional embodiment, the snap-fit ​​structure 111 provided in this embodiment is engaged with the first end of the bearing inner ring 22; or, the inner sidewall of the bearing inner ring 22 provided in this embodiment is provided with a snap-fit ​​groove, and the snap-fit ​​structure 111 is engaged with the snap-fit ​​groove.

[0060] See Figure 3As shown, in another embodiment, the bearing inner ring 22 and the base 11 are arranged sequentially along the axial direction of the bearing portion 20, with the base 11 located at the second end of the bearing inner ring 22. The bearing inner ring 22 and the base 11 are separately fixedly connected. By arranging the bearing inner ring 22 and the base 11 sequentially along the axial direction of the bearing portion 20, and placing the base 11 at the second end of the bearing inner ring 22, the bearing inner ring 22 and the base 11 are separately fixedly connected. This eliminates the need for the snap-fit ​​structure 111 located inside the bearing inner ring 22, providing more sufficient installation space for other components in the optical ranging device that require the use of the internal space of the bearing inner ring 22.

[0061] See Figure 4 As shown, in another embodiment, the bearing inner ring 22 and the base 11 are integrally formed. By making the base 11 and the bearing inner ring 22 integrally formed, the connection points between the base 11 and the bearing inner ring 22 are reduced, thus preventing wobbling caused by loosening or gaps in the connection points. This enhances the overall rigidity of the base 11 and the bearing inner ring 22. Furthermore, making the base 11 and the bearing inner ring 22 integrally formed also simplifies the assembly process of the optical rangefinder and improves the controllability of manufacturing precision.

[0062] See Figures 1 to 5 As shown, in a specific embodiment, a transmission groove 2111 is provided on the outer side wall of the bearing outer ring 21. The transmission structure includes the transmission groove 2111 and the transmission belt 2112. The driving unit 30 drives the bearing outer ring 21 to rotate relative to the bearing inner ring 22 through the transmission belt 2112. The transmission groove 2111 is provided on the outer side wall of the bearing outer ring 21 so that the transmission belt 2112 can be driven to cooperate with the bearing outer ring 21 through the transmission groove 2111, thereby enabling the driving unit 30 to drive the bearing outer ring 21 to rotate relative to the bearing inner ring 22 through the transmission belt 2112.

[0063] In one optional embodiment, the card slot provided in this embodiment is an annular card slot.

[0064] In one optional embodiment, the transmission groove provided in this embodiment is an annular groove, which extends circumferentially along the outer ring 21 of the bearing and is adapted to the structure of the transmission belt 2112.

[0065] In an optional embodiment, the annular groove provided in this embodiment is a belt groove, the outer ring 21 of the bearing with the belt groove forms a driven pulley, and the transmission belt 2112 is a belt; the drive unit 30 provided in this embodiment includes a first drive motor and a drive pulley, the output end of the first drive motor is drivenly connected to the drive pulley, and is used to drive the drive pulley to rotate, the belt is sleeved on the drive pulley and the driven pulley, and the rotating drive pulley drives the driven pulley to rotate through the belt.

[0066] In another embodiment, the outer wall of the bearing outer ring 21 in this embodiment is provided with a plurality of first transmission teeth. The transmission structure includes a plurality of first transmission teeth and a drive gear. The drive gear is in transmission engagement with the plurality of first transmission teeth. The drive unit 30 drives the bearing outer ring 21 to rotate relative to the bearing inner ring 22 through the drive gear. The plurality of first transmission teeth on the outer wall of the bearing outer ring 21 enable the drive gear to be in transmission engagement with the bearing outer ring 21 through the plurality of first transmission teeth, thereby enabling the drive unit 30 to drive the bearing outer ring 21 to rotate relative to the bearing inner ring 22 through the drive gear.

[0067] In one optional embodiment, the plurality of first transmission teeth provided in this embodiment are arranged circumferentially along the outer ring 21 of the bearing, and the outer ring 21 of the bearing with the plurality of first transmission teeth forms a driven gear, which is adapted to the driving gear; the driving part 30 provided in this embodiment includes a second driving motor, the output end of the second driving motor is driven connected to the driving gear, and is used to drive the driving gear to rotate, the driving gear meshes with the driven gear, and the rotating driving gear can drive the driven gear to rotate.

[0068] In another embodiment, the outer wall of the bearing outer ring 21 is provided with a plurality of second transmission teeth. The transmission structure includes a plurality of second transmission teeth and a transmission chain. The transmission chain engages with the plurality of second transmission teeth, and the drive unit 30 drives the bearing outer ring 21 to rotate relative to the bearing inner ring 22 via the transmission chain. The provision of a plurality of second transmission teeth on the outer wall of the bearing outer ring 21 enables the transmission chain to engage with the bearing outer ring 21 via the plurality of second transmission teeth, thereby allowing the drive unit 30 to drive the bearing outer ring 21 to rotate relative to the bearing inner ring 22 via the transmission chain.

[0069] In one optional embodiment, the multiple second transmission teeth provided in this embodiment are arranged circumferentially along the outer ring 21 of the bearing, and the outer ring 21 of the bearing with multiple second transmission teeth forms a driven sprocket. The transmission chain is a chain, and the driven sprocket is adapted to the chain. The drive unit 30 provided in this embodiment includes a third drive motor and a drive sprocket. The output end of the third drive motor is driven and connected to the drive sprocket to drive the drive sprocket to rotate. The drive sprocket is adapted to the chain. The chain is sleeved on the drive sprocket and the driven sprocket and meshes with the drive sprocket and the driven sprocket respectively. The rotating drive sprocket drives the driven sprocket to rotate through the chain.

[0070] See Figures 1 to 4 As shown, in a specific embodiment, a first roller groove is provided on the inner wall of the bearing outer ring 21, and the rolling element 23 is at least partially located in the first roller groove. The bearing outer ring 21 limits the rolling element 23 through the first roller groove. The projection of the transmission groove 2111 in the radial direction of the bearing outer ring 21 at least partially coincides with the projection of the first roller groove in the radial direction of the bearing outer ring 21. Providing a first roller groove on the inner wall of the bearing outer ring 21 and ensuring that the rolling element 23 is at least partially located in the first roller groove enables the bearing outer ring 21 and the rolling element 23 to be optically aligned. The space occupied in the radial direction of the distance device is at least partially overlapped, which allows the radial dimension of the bearing section 20 to be designed to be smaller. Furthermore, the first roller groove can also limit the rolling element 23, improving the stability of the bearing section 20. At the same time, the projection of the transmission groove 2111 in the radial direction of the bearing outer ring 21 is set to at least partially overlap with the projection of the first roller groove in the radial direction of the bearing outer ring 21. This allows the space occupied by the transmission groove 2111 and the rolling element 23 in the axial direction of the optical distance measuring device to be at least partially overlapped, which allows the axial dimension of the bearing section 20 to be designed to be smaller.

[0071] See Figure 5 As shown, in another embodiment, the projection of the transmission groove 2111 on the radial side of the bearing outer ring 21 does not coincide with the projection of the first roller groove on the radial side of the bearing outer ring 21. When the projection of the transmission groove 2111 on the radial side of the bearing outer ring 21 does not coincide with the projection of the first roller groove on the radial side of the bearing outer ring 21, the distribution of the transmission groove 2111 and the first roller groove on the axial side of the bearing outer ring 21 is relatively uniform. At this time, while ensuring the structural strength of the bearing outer ring 21, the radial dimension of the bearing outer ring 21 can be designed to be smaller, thereby enabling the optical ranging device to reduce the size of the outer surface of the bearing outer ring 21 as much as possible, so as to reduce the radial dimension of the optical ranging device.

[0072] In one specific embodiment, the bearing outer ring 21 is made of rubber and plastic material; setting the material of the bearing outer ring 21 to rubber and plastic material can reduce the production cost of the bearing outer ring 21 and reduce the weight of the bearing outer ring 21.

[0073] In another embodiment, the outer ring 21 of the bearing is made of metal. Using a metal material for the outer ring 21 provides higher structural strength and lower rotational noise, preventing wobbling during operation and improving its rotational stability.

[0074] In one specific embodiment, the material of the bearing inner ring 22 is rubber and plastic; setting the material of the bearing inner ring 22 to rubber and plastic can reduce the production cost of the bearing inner ring 22 and reduce the weight of the bearing inner ring 22.

[0075] In another embodiment, the bearing inner ring 22 is made of a metallic material. Using a metallic material for the bearing inner ring 22 allows it to possess higher strength and hardness, enabling it to withstand larger radial and axial loads. Simultaneously, using a metallic material also reduces the coefficient of friction between the bearing inner ring 22 and the rolling elements 23, ensuring the bearing inner ring 22 maintains good surface finish and reduces wear during prolonged use.

[0076] According to another aspect of this application, a mobile device is provided, which includes an optical ranging device, wherein the optical ranging device is the optical ranging device described above.

[0077] In summary, implementing the optical ranging device and moving device provided in this embodiment has at least the following beneficial technical effects: The optical ranging device provided in this embodiment directly sets the transmission structure 211 on the outer side wall of the outer ring of the bearing part 20, which eliminates the radial space occupied by all entities or gaps between the bearing part 20 and the transmission structure compared to the prior art, thereby reducing the radial dimension of the optical ranging device, that is, reducing the width dimension of the optical ranging device, which is conducive to the miniaturization design of the optical ranging device.

[0078] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An optical ranging device, characterized in that, The optical ranging device includes: The outer casing (10) includes a base (11). A beam scanning unit is rotatably mounted on the base (11). The bearing part (20) has its inner ring mounted on the base (11), and the beam scanning part is mounted on the outer ring of the bearing part (20). The beam scanning part is rotatably mounted on the base (11) through the bearing part (20). A drive unit (30) is mounted on the base (11). A transmission structure (211) is provided on the outer side wall of the outer ring of the bearing part (20). The drive unit (30) can drive the outer ring of the bearing part (20) through the transmission structure (211) so that the outer ring of the bearing part (20) rotates relative to the inner ring of the bearing part (20). The bearing portion (20) includes an outer bearing ring (21), an inner bearing ring (22), and rolling elements (23). The outer bearing ring (21) is fitted onto the inner bearing ring (22). The rolling elements (23) are located between the outer bearing ring (21) and the inner bearing ring (22) and roll in cooperation with the outer bearing ring (21) and the inner bearing ring (22) respectively. The outer ring (21) of the bearing forms the outer ring of the bearing portion (20), and the inner ring (22) of the bearing forms the inner ring of the bearing portion (20); A transmission groove (2111) is provided on the outer side wall of the bearing outer ring (21). The transmission structure (211) includes the transmission groove (2111) and the transmission belt (2112). The driving part (30) drives the bearing outer ring (21) to rotate relative to the bearing inner ring (22) through the transmission belt (2112). The bearing outer ring (21) has a first roller groove on its inner sidewall, and the rolling element (23) is at least partially located in the first roller groove. The bearing outer ring (21) limits the rolling element (23) through the first roller groove. Along the radial direction of the outer ring (21) of the bearing, the projection of the bottom of the transmission groove (2111) does not coincide with the projection of the bottom of the first roller groove; The projection of the transmission groove (2111) on the radial side of the bearing outer ring (21) at least partially coincides with the projection of the first roller groove on the radial side of the bearing outer ring (21); Alternatively, the projection of the transmission groove (2111) on the radial side of the bearing outer ring (21) does not coincide with the projection of the first roller groove on the radial side of the bearing outer ring (21).

2. The optical ranging device according to claim 1, characterized in that, The outer shell portion (10) includes a middle shell support plate (12), which is disposed on the first end of the bearing outer ring (21) and is arranged sequentially with the bearing outer ring (21) along the axial direction of the bearing portion (20); a first mounting surface is provided on the side of the middle shell support plate (12) away from the bearing outer ring (21), and the beam scanning portion is fixedly mounted on the first mounting surface; wherein, the middle shell support plate (12) and the bearing outer ring (21) are integrally formed or separately fixedly connected; Alternatively, the beam scanning section is fixedly mounted on the first end of the outer ring (21) of the bearing.

3. The optical ranging device according to claim 2, characterized in that, When the outer shell portion (10) includes the middle shell support plate, a first limiting structure is provided on the middle shell support plate (12). The first limiting structure cooperates with the inner side wall of the bearing outer ring (21) and / or the outer side wall of the bearing outer ring (21) to restrict the radial movement of the middle shell support plate (12) relative to the bearing outer ring (21). And / or, the base (11) is provided with a second limiting structure, which cooperates with the inner wall of the bearing inner ring (22) and / or the outer wall of the bearing inner ring (22) to limit the radial movement of the bearing inner ring (22) relative to the base (11).

4. The optical ranging device according to claim 1, characterized in that, The optical ranging device further includes a grating encoding section (40), which includes a grating encoding disk (41) and a grating detection unit (42). The grating detection unit (42) is used to detect the relative rotation angle or relative rotation speed between the grating detection unit (42) and the grating encoding disk (41). The grating encoder disk (41) is disposed at the second end of the bearing outer ring (21) and is arranged sequentially with the bearing outer ring (21) along the axial direction of the bearing portion (20). The grating detection unit (42) is fixedly disposed relative to the base (11). The grating encoder disk (41) and the bearing outer ring (21) are integrally formed or separately fixedly connected. Alternatively, the grating encoder disk (41) is disposed at the first end of the bearing inner ring (22) and is arranged sequentially with the bearing inner ring (22) along the axial direction of the bearing portion (20), and the grating detection unit (42) is fixedly disposed relative to the beam scanning portion; wherein the grating encoder disk (41) and the bearing inner ring (22) are integrally formed or separately fixedly connected.

5. The optical ranging device according to claim 1, characterized in that, The base (11) is provided with a snap-fit ​​structure (111), which is at least partially inserted into the inner ring (22) of the bearing and engages with the inner ring (22). Alternatively, the bearing inner ring (22) and the base (11) are arranged sequentially along the axial direction of the bearing portion (20), the base (11) is located at the second end of the bearing inner ring (22), and the bearing inner ring (22) and the base (11) are separately fixedly connected or integrally formed.

6. The optical ranging device according to any one of claims 1 to 5, characterized in that, The outer ring (21) of the bearing is made of rubber or plastic or metal, and / or the inner ring (22) of the bearing is made of rubber or plastic or metal.

7. A mobile device, characterized in that, The mobile device includes an optical ranging device, which is the optical ranging device according to any one of claims 1 to 6.

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